An Observation and Recovery Type Forest Fruit Picker

Abstract

The invention discloses an observation recovery type fruit picking device and relates to the field of agricultural robots. The observation recovery type fruit picking device is formed by a body, an observation device, a picking device and a recovery device. When the observation recovery type fruit picking device works, a cylinder is stretched into a fruit tree canopy, video glasses are utilized to observe a close-range picking scene obtained by a miniature camera, and the cylinder aligns to fruits accurately. A handle is moved to enable the cylinder to move close to the fruits. When the cylinder moves close to the fruits, a sensor gives out signals, a large-stroke electromagnet is powered on to push rods out, two envelope claws close by means of pushing of the two connection rods, and the approximate hemispherical surface of the two envelope claws hold the fruits reliably. Fruit stems are broken, and the fruits fall into the cylinder and safely drop into a fruit storage box through an inclined side port and a hose. By means of the observation recovery type fruit picking device, close-range observation of the picking scene and operation of the picking device can be conveniently achieved. By means of combination of the envelope claws, the cylinder and the hose, fruit picking and recovery cannot be limited by canopy space and fruit positions. The observation recovery type fruit picking device is simple in structure, convenient to operate, high in success rate and applicable to the fruit picking.

Description

technical field [0001] The invention relates to the field of agricultural robots, in particular to an observation and recovery type forest fruit picker. Background technique [0002] Due to the tallness of the fruit trees, it is difficult and dangerous to pick the fruits manually. The vibrating mechanical picking method generally adopted, the success rate of picking is limited by the connection strength of fruit stems, which is easy to cause damage to fruits and trees. Hand-held forest fruit picker is welcomed and widely used, but existing forest fruit picker still has obvious deficiency. [0003] First of all, when picking fruit, the operator needs to keep looking up, observe and aim at the fruit to complete the picking. Due to the long distance and poor angle, it is very difficult to align the fruit and complete the picking through observation, and the operator is prone to fatigue. The patent (application publication number: CN103081648A) proposes to use a wireless camer...

AI Technical Summary

Problems solved by technology

[0003] First of all, when picking fruit, the operator needs to keep looking up, observe and aim at the fruit to complete the picking. Due to the long distance and poor angle, it is very difficult to align the fruit and complete the picking through observation, and the operator is prone to fatigue

The patent (application publication number: CN103081648A) proposes to use a wireless camera and a display, but the size of the picker is too large and too heavy, which is not convenient for the operator to operate and observe

[0004] Secondly, most pickers directly cut off the fruit to the ground, causing serious damage to the fruit.

In practical applications, due to the limited space caused by the dense distribution of branches, leaves, and fruits between the tree canopies, the large-open type recovery device is inconvenient to move in the canopy and even difficult to access the fruit, while the narrow-mouth type recovery device cannot guarantee The mouth of the hose is always located directly below the fruit, resulting in the failure of fruit harvesting

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